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In this paper, an indoor navigation algorithm is proposed for the purpose of robot autonomous path planning. Due to the complex situation in indoor environments, it can cause a serious trouble for robot to identify the route during patrolling, especially for corner and door detection, which is the key step for intelligent navigation. To solve this problem, a kinect sensor is used for the door detection...
In this paper, we present an automatic method to remove shadows in light field images. Taking into account the internal structure of the light field data, depth map of the captured scene is extracted to calculate the surface normal. Using nonlocal matching by combining chromaticity, normal and spatial location information in an anisotropic window, the shadow confidence of each pixel is established...
In this paper, we propose a new approach to detect hand-waving motion in crowds. Different from previous approaches which are often based on segmentation and motion detection, our method can be seen as a complexity reduction process from the problem of 3D motion detection to 2D object detection. Through arranging the same row of per video frame along the time sequence, we obtain 2D images composed...
Real-time hand and face localization is a challenging problem in many application scenarios such as face and gesture recognition in computer vision and robotics. This paper proposes a robust method which can locate multiple faces and hands simultaneously under the changing environment of light illumination and complex background in real time by using skin-color detection and K-means in conjunction...
Various features may be used for tracking with a mobile camera, such as color, edge, contour, texture, locomotion, key point and so on. It has been proved that combination of multiple features can increase the robustness of a tracking system. By considering the characteristics of these features, we propose the approach of employing the color and topological properties of the target in tracking. First,...
Nowadays, sign language is commonly used as a communication language for auditory handicapped people. In addition to voice and controller pads, hand gestures can also be an effective way of communication between humans and robots or even between auditory handicapped people and robots. To be an effective sign recognition system, it should be glove-free, fast, small database and accurate. In this project,...
In many societies, the aged people are often living alone. For the aging population, surveillance in household environments has become more and more important. In this paper, we present a household surveillance robot that can detect abnormal events by utilizing video and audio information. In our approach, moving targets can be detected by the robot with a passive acoustic location device. Then the...
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